SolvePnP

Computes the rotation matrix and translation vector from 3D-2D point correspondences.

Syntax

Definition:

HRESULT SolvePnP(
    HRESULT              hrPrev,
    ITcVnContainer*      ipImagePoints,
    ITcVnContainer*      ipReferencePoints,
    TcVnMatrix3x3_LREAL& aCameraMatrix,
    TcVnArray8_LREAL&    aDistortionCoefficients,
    TcVnMatrix3x3_LREAL& aRotationMatrix,
    TcVnVector3_LREAL&   aTranslationVector,
    double&              fReprojError,
    ETcVnSolvePnPMethod  eMethod = SPM_ITERATIVE,
    bool                 bUseExtrinsicGuess = false
)

Parameters

Name

Type

Default

Description

hrPrev

HRESULT

HRESULT indicating the result of previous operations (If SUCCEEDED(hrPrev) equals false, no operation is executed.)

ipImagePoints

ITcVnContainer*

Image points (ContainerType_Vector_TcVnPoint2_REAL, requires at least 4 points in the same order as in ipReferencePoints)

ipReferencePoints

ITcVnContainer*

Reference world points (ContainerType_Vector_TcVnPoint3_REAL, same number of points as in ipImagePoints)

aCameraMatrix

TcVnMatrix3x3_LREAL&

Camera matrix (e.g. computed with one of the CalibrateCamera functions)

aDistortionCoefficients

TcVnArray8_LREAL&

Lens distortion coefficients [k1, k2, p1, p2, k3, k4, k5, k6] (e.g. computed with one of the CalibrateCamera functions)

aRotationMatrix

TcVnMatrix3x3_LREAL&

Returns the rotation matrix

aTranslationVector

TcVnVector3_LREAL&

Returns the translation vector

fReprojError

double&

Returns the reprojection error

eMethod

ETcVnSolvePnPMethod

SPM_ITERATIVE

Solve PnP method

bUseExtrinsicGuess

bool

false

If true, the provided rotation matrix and translation vector are used as an initial guess for further optimization (only supported for the SPM_ITERATIVE method).

SolvePnP 1: Return value

HRESULT

Required License

TC3 Vision Metrology 2D

System Requirements